From 1e8047838f382e306971e71f40199e235825c9a3 Mon Sep 17 00:00:00 2001
From: Silvan Fuhrer <silvan@auterion.com>
Date: Thu, 25 Nov 2021 10:19:27 +0100
Subject: [PATCH] TECS: fix publishing of tecs_status

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---
 src/lib/tecs/TECS.cpp                                      | 6 ++++++
 src/lib/tecs/TECS.hpp                                      | 4 +++-
 src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp | 2 --
 src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp | 4 +---
 4 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/src/lib/tecs/TECS.cpp b/src/lib/tecs/TECS.cpp
index 1428a5f8d38a..a02cf8ff43ba 100644
--- a/src/lib/tecs/TECS.cpp
+++ b/src/lib/tecs/TECS.cpp
@@ -50,6 +50,12 @@ static constexpr float DT_MAX = 1.0f;	///< max value of _dt allowed before a fil
  * @author Paul Riseborough
  */
 
+
+TECS::TECS()
+{
+	_tecs_status_pub.advertise();
+}
+
 /*
  * This function implements a complementary filter to estimate the climb rate when
  * inertial nav data is not available. It also calculates a true airspeed derivative
diff --git a/src/lib/tecs/TECS.hpp b/src/lib/tecs/TECS.hpp
index 3b80e82ea7c2..cf3dc725b779 100644
--- a/src/lib/tecs/TECS.hpp
+++ b/src/lib/tecs/TECS.hpp
@@ -56,7 +56,7 @@
 class TECS
 {
 public:
-	TECS() = default;
+	TECS();
 	~TECS() = default;
 
 	// no copy, assignment, move, move assignment
@@ -371,4 +371,6 @@ class TECS
 	ManualVelocitySmoothingZ
 	_velocity_control_traj_generator;	// generates height rate and altitude setpoint trajectory when height rate is commanded
 
+	uORB::Publication<tecs_status_s>	_tecs_status_pub{ORB_ID(tecs_status)};
+
 };
diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
index 07212efc1ed4..53c94ced5d0e 100644
--- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
@@ -70,8 +70,6 @@ FixedwingPositionControl::FixedwingPositionControl(bool vtol) :
 	// limit to 50 Hz
 	_local_pos_sub.set_interval_ms(20);
 
-	_tecs_status_pub.advertise();
-
 	/* fetch initial parameter values */
 	parameters_update();
 }
diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
index 5319838b2270..3ffeb02519d8 100644
--- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
@@ -156,8 +156,7 @@ class FixedwingPositionControl final : public ModuleBase<FixedwingPositionContro
 
 	uORB::Publication<vehicle_attitude_setpoint_s>		_attitude_sp_pub;
 	uORB::Publication<position_controller_status_s>		_pos_ctrl_status_pub{ORB_ID(position_controller_status)};			///< navigation capabilities publication
-	uORB::Publication<position_controller_landing_status_s>	_pos_ctrl_landing_status_pub{ORB_ID(position_controller_landing_status)};	///< landing status publication
-	uORB::Publication<tecs_status_s>			_tecs_status_pub{ORB_ID(tecs_status)};						///< TECS status publication
+	uORB::Publication<position_controller_landing_status_s>	_pos_ctrl_landing_status_pub{ORB_ID(position_controller_landing_status)};	///< landing status publication					///< TECS status publication
 	uORB::PublicationMulti<orbit_status_s>			_orbit_status_pub{ORB_ID(orbit_status)};
 
 	manual_control_setpoint_s	_manual_control_setpoint {};			///< r/c channel data
@@ -282,7 +281,6 @@ class FixedwingPositionControl final : public ModuleBase<FixedwingPositionContro
 		DASH_FULL
 	};
 
-	// bool _conditions_for_eco_dash_met{false};
 	hrt_abstime _time_conditions_not_met{0};
 
 	float _last_airspeed_setpoint{NAN};